Updated PointTracker

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@200 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 35 insertions, 13 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index aa0e4272..13522863 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -9,25 +9,30 @@
 #include <QHBoxLayout>

 #include <cmath>

 #include <QDebug>

+#include <QFile>

+#include <QCoreApplication>

 

 using namespace std;

 using namespace cv;

 using namespace boost;

 

+//#define PT_PERF_LOG	//log performance

+

 //-----------------------------------------------------------------------------

 Tracker::Tracker()

 	: frame_count(0), commands(0), video_widget(NULL)

 {

-	qDebug()<<"Tracker Const";

+	qDebug()<<"Tracker::Tracker";

 	TrackerSettings settings;

 	settings.load_ini();

 	apply(settings);

-	qDebug()<<"Tracker Starting";

+	camera.start();

 	start();

 }

 

 Tracker::~Tracker()

 {

+	qDebug()<<"Tracker::~Tracker";

 	set_command(ABORT);

 	wait();

 	if (video_widget) delete video_widget;

@@ -47,8 +52,17 @@ void Tracker::reset_command(Command command)
 

 void Tracker::run()

 {

-	qDebug()<<"Tracker Thread started";

+	qDebug()<<"Tracker:: Thread started";

+

+#ifdef PT_PERF_LOG

+	QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");

+	if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;

+	QTextStream log_stream(&log_file);

+#endif

+

 	time.start();

+	float dt;

+	bool new_frame;

 	forever

 	{

 		{	

@@ -58,47 +72,55 @@ void Tracker::run()
 			if (commands & PAUSE) continue;

 			commands = 0;

 			

-			float dt = time.elapsed() / 1000.0;

+			dt = time.elapsed() / 1000.0;

 			time.restart();

 

-			frame = camera.get_frame(dt);

-			if (!frame.empty())

+			new_frame = camera.get_frame(dt, &frame);

+			if (new_frame && !frame.empty())

 			{

 				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);

 				point_tracker.track(points, camera.get_info().f, dt);

 				frame_count++;

 			}

+#ifdef PT_PERF_LOG

+			log_stream<<"dt: "<<dt;

+			if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;

+			log_stream<<"\n";

+#endif

 		}

 		msleep(sleep_time);

 	}

-	qDebug()<<"Tracker Thread stopping";

+

+	qDebug()<<"Tracker:: Thread stopping";

 }

 

 void Tracker::apply(const TrackerSettings& settings)

 {

-	qDebug()<<"Tracker::apply";

+	qDebug()<<"Tracker:: Applying settings";

 	QMutexLocker lock(&mutex);

 	camera.set_index(settings.cam_index);

-	camera.set_f(settings.cam_f);

-	camera.set_res(settings.cam_res_x, settings.cam_res_y);

+	camera.set_res(settings.cam_res_x, settings.cam_res_y);	

 	camera.set_fps(settings.cam_fps);

+	camera.set_f(settings.cam_f);

 	point_extractor.threshold_val = settings.threshold;

 	point_extractor.min_size = settings.min_point_size;

 	point_extractor.max_size = settings.max_point_size;

 	point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));

 	sleep_time = settings.sleep_time;

-	// TODO: reset time

+	point_tracker.dt_reset = settings.reset_time / 1000.0;

 	draw_frame = settings.video_widget;

 	t_MH = settings.t_MH;

 }

 

 void Tracker::reset()

 {

-	//TODO

+	QMutexLocker lock(&mutex);

+	point_tracker.reset();

 }

 

 void Tracker::center()

 {

+	point_tracker.reset();	// we also do a reset here since there is no reset shortkey yet

 	QMutexLocker lock(&mutex);

 	FrameTrafo X_CM_0 = point_tracker.get_pose();

 	FrameTrafo X_MH(Matx33f::eye(), t_MH);

@@ -112,7 +134,7 @@ void Tracker::Initialize(QFrame *videoframe)
 	const int VIDEO_FRAME_WIDTH = 252;

 	const int VIDEO_FRAME_HEIGHT = 189;

 

-	qDebug("Tracker::Initialize()");

+	qDebug("Tracker::Initialize");

 	// setup video frame

 	videoframe->setAttribute(Qt::WA_NativeWindow);

 	videoframe->show();